int RTIMUGD20HM303DLHC::IMUInit()
{
unsigned char result;
// configure IMU
m_gyroSlaveAddr = m_settings->m_I2CSlaveAddress;
m_accelSlaveAddr = LSM303DLHC_ACCEL_ADDRESS;
m_compassSlaveAddr = LSM303DLHC_COMPASS_ADDRESS;
setCalibrationData();
// Set up the gyro
if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_LOW_ODR, 0x04))
return -1;
if (!I2CWrite(m_gyroSlaveAddr, L3GD20H_CTRL5, 0x80))
return -2;
if (!I2CRead(m_gyroSlaveAddr, L3GD20H_WHO_AM_I, 1, &result))
return -3;
if (result != L3GD20H_ID) {
return -4;
}
if (!setGyroSampleRate())
return -5;
if (!setGyroCTRL2())
return -6;
if (!setGyroCTRL4())
return -7;
// Set up the accel
if (!setAccelCTRL1())
return -8;
if (!setAccelCTRL4())
return -9;
// Set up the compass
if (!setCompassCRA())
return -10;
if (!setCompassCRB())
return -11;
if (!setCompassCRM())
return -12;
if (!setGyroCTRL5())
return -13;
gyroBiasInit();
return true;
}
bool RTIMUGD20HM303DLHC::IMUInit()
{
unsigned char result;
#ifdef GD20HM303DLHC_CACHE_MODE
m_firstTime = true;
m_cacheIn = m_cacheOut = m_cacheCount = 0;
#endif
// set validity flags
m_imuData.fusionPoseValid = false;
m_imuData.fusionQPoseValid = false;
m_imuData.gyroValid = true;
m_imuData.accelValid = true;
m_imuData.compassValid = true;
m_imuData.pressureValid = false;
m_imuData.temperatureValid = false;
m_imuData.humidityValid = false;
// configure IMU
m_gyroSlaveAddr = m_settings->m_I2CSlaveAddress;
m_accelSlaveAddr = LSM303DLHC_ACCEL_ADDRESS;
m_compassSlaveAddr = LSM303DLHC_COMPASS_ADDRESS;
setCalibrationData();
// enable the I2C bus
if (!m_settings->HALOpen())
return false;
// Set up the gyro
if (!m_settings->HALWrite(m_gyroSlaveAddr, L3GD20H_LOW_ODR, 0x04, "Failed to reset L3GD20H"))
return false;
if (!m_settings->HALWrite(m_gyroSlaveAddr, L3GD20H_CTRL5, 0x80, "Failed to boot L3GD20H"))
return false;
if (!m_settings->HALRead(m_gyroSlaveAddr, L3GD20H_WHO_AM_I, 1, &result, "Failed to read L3GD20H id"))
return false;
if (result != L3GD20H_ID) {
HAL_ERROR1("Incorrect L3GD20H id %d\n", result);
return false;
}
if (!setGyroSampleRate())
return false;
if (!setGyroCTRL2())
return false;
if (!setGyroCTRL4())
return false;
// Set up the accel
if (!setAccelCTRL1())
return false;
if (!setAccelCTRL4())
return false;
// Set up the compass
if (!setCompassCRA())
return false;
if (!setCompassCRB())
return false;
if (!setCompassCRM())
return false;
#ifdef GD20HM303DLHC_CACHE_MODE
// turn on gyro fifo
if (!m_settings->HALWrite(m_gyroSlaveAddr, L3GD20_FIFO_CTRL, 0x3f, "Failed to set L3GD20 FIFO mode"))
return false;
#endif
if (!setGyroCTRL5())
return false;
gyroBiasInit();
HAL_INFO("GD20HM303DLHC init complete\n");
return true;
}
